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<div class="title">spin_image.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SPIN_IMAGE_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SPIN_IMAGE_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html">   88</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_spin_image_estimation.html">SpinImageEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointOutT&gt;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  {</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;SpinImageEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const SpinImageEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::k_</a>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::fake_surface_</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::Ptr PointCloudInPtr;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr PointCloudInConstPtr;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#ab66e696b17513a417f97e39aa399f73e">SpinImageEstimation</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> image_width = 8,</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                           <span class="keywordtype">double</span> support_angle_cos = 0.0,   <span class="comment">// when 0, this is bogus, so not applied</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_pts_neighb = 0);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      </div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#afe0a39b45ca455a2875caf0d84186b2c">  126</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_spin_image_estimation.html#afe0a39b45ca455a2875caf0d84186b2c">~SpinImageEstimation</a> () {}</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#a93f3f5586e8f01b01a2ea95f77b5d7d6">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a93f3f5586e8f01b01a2ea95f77b5d7d6">setImageWidth</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bin_count)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        image_width_ = bin_count;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#aec8636459345b81d562ba9bab97dadfd">  145</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#aec8636459345b81d562ba9bab97dadfd">setSupportAngle</a> (<span class="keywordtype">double</span> support_angle_cos)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordflow">if</span> (0.0 &gt; support_angle_cos || support_angle_cos &gt; 1.0)  <span class="comment">// may be permit negative cosine?</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        {</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;          <span class="keywordflow">throw</span> <a class="code" href="classpcl_1_1_p_c_l_exception.html">PCLException</a> (<span class="stringliteral">&quot;Cosine of support angle should be between 0 and 1&quot;</span>,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;            <span class="stringliteral">&quot;spin_image.h&quot;</span>, <span class="stringliteral">&quot;setSupportAngle&quot;</span>);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        support_angle_cos_ = support_angle_cos;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#a99c85206d6eabdbaf3aa4dd989d930a7">  162</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a99c85206d6eabdbaf3aa4dd989d930a7">setMinPointCountInNeighbourhood</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_pts_neighb)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        min_pts_neighb_ = min_pts_neighb;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#aa847219e3000ed6a1dd73509bcc318e4">  178</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#aa847219e3000ed6a1dd73509bcc318e4">setInputNormals</a> (<span class="keyword">const</span> PointCloudNConstPtr &amp;normals)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      { </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        input_normals_ = normals; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#a12e76226cf145a57973c0b37bb80c3f1">  189</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a12e76226cf145a57973c0b37bb80c3f1">setRotationAxis</a> (<span class="keyword">const</span> PointNT&amp; axis)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        rotation_axis_ = axis;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        use_custom_axis_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        use_custom_axes_cloud_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#af5a269fd1b1606d4fb90329f7efd5e2a">  203</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#af5a269fd1b1606d4fb90329f7efd5e2a">setInputRotationAxes</a> (<span class="keyword">const</span> PointCloudNConstPtr&amp; axes)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        rotation_axes_cloud_ = axes;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        use_custom_axes_cloud_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        use_custom_axis_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#a50add0c928dada110031d1f95d9d8290">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a50add0c928dada110031d1f95d9d8290">useNormalsAsRotationAxis</a> () </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      { </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        use_custom_axis_ = <span class="keyword">false</span>; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        use_custom_axes_cloud_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      }</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#a77bac69302ebb759336dfa711dfe24c9">  231</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a77bac69302ebb759336dfa711dfe24c9">setAngularDomain</a> (<span class="keywordtype">bool</span> is_angular = <span class="keyword">true</span>) { is_angular_ = is_angular; }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1_spin_image_estimation.html#a5e371335fa14ddf04196bf76d720645b">  241</a></span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a5e371335fa14ddf04196bf76d720645b">setRadialStructure</a> (<span class="keywordtype">bool</span> is_radial = <span class="keyword">true</span>) { is_radial_ = is_radial; }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#ab09ec6b20fc126a9e2f1ab19fee51286">computeFeature</a> (PointCloudOut &amp;output); </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a05bd9a4e042a5e212c4fac5cc589db95">initCompute</a> ();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      Eigen::ArrayXXd </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <a class="code" href="classpcl_1_1_spin_image_estimation.html#a3144eb10e31eb625d1e0faaeee278e26">computeSiForPoint</a> (<span class="keywordtype">int</span> index) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;      PointCloudNConstPtr input_normals_;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      PointCloudNConstPtr rotation_axes_cloud_;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      <span class="keywordtype">bool</span> is_angular_;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      PointNT rotation_axis_;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keywordtype">bool</span> use_custom_axis_;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <span class="keywordtype">bool</span> use_custom_axes_cloud_;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordtype">bool</span> is_radial_;</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> image_width_;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keywordtype">double</span> support_angle_cos_;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> min_pts_neighb_;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  };</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;}</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160; </div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/spin_image.hpp&gt;</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SPIN_IMAGE_H_</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_exception_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_exception.html">pcl::PCLException</a></div><div class="ttdoc">A base class for all pcl exceptions which inherits from std::runtime_error</div><div class="ttdef"><b>Definition:</b> exceptions.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html">pcl::SpinImageEstimation</a></div><div class="ttdoc">Estimates spin-image descriptors in the given input points.</div><div class="ttdef"><b>Definition:</b> spin_image.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a05bd9a4e042a5e212c4fac5cc589db95"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a05bd9a4e042a5e212c4fac5cc589db95">pcl::SpinImageEstimation::initCompute</a></div><div class="ttdeci">virtual bool initCompute()</div><div class="ttdoc">initializes computations specific to spin-image.</div><div class="ttdef"><b>Definition:</b> spin_image.hpp:239</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a12e76226cf145a57973c0b37bb80c3f1"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a12e76226cf145a57973c0b37bb80c3f1">pcl::SpinImageEstimation::setRotationAxis</a></div><div class="ttdeci">void setRotationAxis(const PointNT &amp;axis)</div><div class="ttdoc">Sets single vector a rotation axis for all input points.</div><div class="ttdef"><b>Definition:</b> spin_image.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a3144eb10e31eb625d1e0faaeee278e26"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a3144eb10e31eb625d1e0faaeee278e26">pcl::SpinImageEstimation::computeSiForPoint</a></div><div class="ttdeci">Eigen::ArrayXXd computeSiForPoint(int index) const</div><div class="ttdoc">Computes a spin-image for the point of the scan.</div><div class="ttdef"><b>Definition:</b> spin_image.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a50add0c928dada110031d1f95d9d8290"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a50add0c928dada110031d1f95d9d8290">pcl::SpinImageEstimation::useNormalsAsRotationAxis</a></div><div class="ttdeci">void useNormalsAsRotationAxis()</div><div class="ttdoc">Sets input normals as rotation axes (default setting).</div><div class="ttdef"><b>Definition:</b> spin_image.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a5e371335fa14ddf04196bf76d720645b"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a5e371335fa14ddf04196bf76d720645b">pcl::SpinImageEstimation::setRadialStructure</a></div><div class="ttdeci">void setRadialStructure(bool is_radial=true)</div><div class="ttdoc">Sets/unsets flag for radial spin-image structure.</div><div class="ttdef"><b>Definition:</b> spin_image.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a77bac69302ebb759336dfa711dfe24c9"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a77bac69302ebb759336dfa711dfe24c9">pcl::SpinImageEstimation::setAngularDomain</a></div><div class="ttdeci">void setAngularDomain(bool is_angular=true)</div><div class="ttdoc">Sets/unsets flag for angular spin-image domain.</div><div class="ttdef"><b>Definition:</b> spin_image.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a93f3f5586e8f01b01a2ea95f77b5d7d6"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a93f3f5586e8f01b01a2ea95f77b5d7d6">pcl::SpinImageEstimation::setImageWidth</a></div><div class="ttdeci">void setImageWidth(unsigned int bin_count)</div><div class="ttdoc">Sets spin-image resolution.</div><div class="ttdef"><b>Definition:</b> spin_image.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_a99c85206d6eabdbaf3aa4dd989d930a7"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#a99c85206d6eabdbaf3aa4dd989d930a7">pcl::SpinImageEstimation::setMinPointCountInNeighbourhood</a></div><div class="ttdeci">void setMinPointCountInNeighbourhood(unsigned int min_pts_neighb)</div><div class="ttdoc">Sets minimal points count for spin image computation.</div><div class="ttdef"><b>Definition:</b> spin_image.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_aa847219e3000ed6a1dd73509bcc318e4"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#aa847219e3000ed6a1dd73509bcc318e4">pcl::SpinImageEstimation::setInputNormals</a></div><div class="ttdeci">void setInputNormals(const PointCloudNConstPtr &amp;normals)</div><div class="ttdoc">Provide a pointer to the input dataset that contains the point normals of the input XYZ dataset given...</div><div class="ttdef"><b>Definition:</b> spin_image.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_ab09ec6b20fc126a9e2f1ab19fee51286"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#ab09ec6b20fc126a9e2f1ab19fee51286">pcl::SpinImageEstimation::computeFeature</a></div><div class="ttdeci">virtual void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Spin Image descriptors at a set of points given by setInputWithNormals() using the surfa...</div><div class="ttdef"><b>Definition:</b> spin_image.hpp:324</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_ab66e696b17513a417f97e39aa399f73e"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#ab66e696b17513a417f97e39aa399f73e">pcl::SpinImageEstimation::SpinImageEstimation</a></div><div class="ttdeci">SpinImageEstimation(unsigned int image_width=8, double support_angle_cos=0.0, unsigned int min_pts_neighb=0)</div><div class="ttdoc">Constructs empty spin image estimator.</div><div class="ttdef"><b>Definition:</b> spin_image.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_aec8636459345b81d562ba9bab97dadfd"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#aec8636459345b81d562ba9bab97dadfd">pcl::SpinImageEstimation::setSupportAngle</a></div><div class="ttdeci">void setSupportAngle(double support_angle_cos)</div><div class="ttdoc">Sets the maximum angle for the point normal to get to support region.</div><div class="ttdef"><b>Definition:</b> spin_image.h:145</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_af5a269fd1b1606d4fb90329f7efd5e2a"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#af5a269fd1b1606d4fb90329f7efd5e2a">pcl::SpinImageEstimation::setInputRotationAxes</a></div><div class="ttdeci">void setInputRotationAxes(const PointCloudNConstPtr &amp;axes)</div><div class="ttdoc">Sets array of vectors as rotation axes for input points.</div><div class="ttdef"><b>Definition:</b> spin_image.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1_spin_image_estimation_html_afe0a39b45ca455a2875caf0d84186b2c"><div class="ttname"><a href="classpcl_1_1_spin_image_estimation.html#afe0a39b45ca455a2875caf0d84186b2c">pcl::SpinImageEstimation::~SpinImageEstimation</a></div><div class="ttdeci">virtual ~SpinImageEstimation()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> spin_image.h:126</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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